US 11,731,638 B2
Driving assistance apparatus, driving assistance method, and non-transitory storage medium
Hidetsugu Higuchi, Nagoya (JP); Hiromi Tonegawa, Nagoya (JP); Kenji Tsumura, Nagoya (JP); and Hideaki Miyazaki, Kobe (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP); and DENSO TEN Limited, Kobe (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP); and DENSO TEN Limited, Kobe (JP)
Filed on Jul. 12, 2021, as Appl. No. 17/372,766.
Claims priority of application No. 2020-121589 (JP), filed on Jul. 15, 2020.
Prior Publication US 2022/0017104 A1, Jan. 20, 2022
Int. Cl. B60W 40/103 (2012.01); B60W 40/068 (2012.01); B60W 40/105 (2012.01); H04L 12/40 (2006.01)
CPC B60W 40/103 (2013.01) [B60W 40/068 (2013.01); B60W 40/105 (2013.01); H04L 12/40 (2013.01); B60W 2552/40 (2020.02); B60W 2555/20 (2020.02); B60W 2556/45 (2020.02); H04L 2012/40215 (2013.01); H04L 2012/40273 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A driving assistance apparatus comprising a processor having hardware, the processor being configured to:
acquire vehicle speed data before an ABS of a vehicle is activated and vehicle speed data when the ABS of the vehicle is stopped;
calculate a coefficient of sliding friction based on the vehicle speed data before the ABS is activated and the vehicle speed data when the ABS is stopped;
determine whether the coefficient of sliding friction is equal to or smaller than a threshold; and
detect that a slip due to road freezing has occurred when the coefficient of sliding friction is equal to or smaller than the threshold.